Console tab

src/cfclient/ui/main.py

@@ -536,8 +536,11 @@ async def _async_connect(self, uri: str) -> None:
             self._update_ui_state()
         except DisconnectedError as e:
             logger.error(f"Connection failed: {e}")
-            QMessageBox.critical(
-                self, "Connection failed", f"Could not connect to Crazyflie:\n{e}"
+            QTimer.singleShot(
+                0,
+                lambda e=e: QMessageBox.critical(
+                    self, "Connection failed", f"Could not connect to Crazyflie:\n{e}"
+                ),
             )
             self.uiState = UIState.DISCONNECTED
             self._update_ui_state()

src/cfclient/ui/tabs/ConsoleTab.py

@@ -7,7 +7,7 @@
 #  +------+    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
 #   ||  ||    /_____/_/\__/\___/_/   \__,_/ /___/\___/
 #
-#  Copyright (C) 2011-2023 Bitcraze AB
+#  Copyright (C) 2011-2026 Bitcraze AB
 #
 #  Crazyflie Nano Quadcopter Client
 #
@@ -29,68 +29,80 @@
 The console tab is used as a console for printouts from the Crazyflie.
 """
 
+from __future__ import annotations
+
 import logging
 
 from PySide6.QtUiTools import loadUiType
-from PySide6.QtCore import Signal
 from PySide6.QtGui import QTextCursor
 
 import cfclient
+from cfclient.gui import create_task
+from cfclient.ui.pluginhelper import PluginHelper
 from cfclient.ui.tab_toolbox import TabToolbox
+from cflib2 import Crazyflie
 
-__author__ = 'Bitcraze AB'
-__all__ = ['ConsoleTab']
+__author__ = "Bitcraze AB"
+__all__ = ["ConsoleTab"]
 
 logger = logging.getLogger(__name__)
 
-console_tab_class = loadUiType(cfclient.module_path +
-                                   "/ui/tabs/consoleTab.ui")[0]
+console_tab_class = loadUiType(cfclient.module_path + "/ui/tabs/consoleTab.ui")[0]
 
 
 class ConsoleTab(TabToolbox, console_tab_class):
     """Console tab for showing printouts from Crazyflie"""
-    _link_established_signal = Signal(str)
-    _connected_signal = Signal(str)
-    _disconnected_signal = Signal(str)
-    _update = Signal(str)
 
-    def __init__(self, helper):
-        super(ConsoleTab, self).__init__(helper, 'Console')
+    def __init__(self, helper: PluginHelper) -> None:
+        super(ConsoleTab, self).__init__(helper, "Console")
         self.setupUi(self)
 
-        # Always wrap callbacks from Crazyflie API though QT Signal/Slots
-        # to avoid manipulating the UI when rendering it
-        self._link_established_signal.connect(self._link_established)
-        self._connected_signal.connect(self._connected)
-        self._disconnected_signal.connect(self._disconnected)
-        self._update.connect(self.printText)
-
-        self._helper.cf.console.receivedChar.add_callback(self._update.emit)
-        self._helper.cf.connected.add_callback(self._connected_signal.emit)
-        self._helper.cf.link_established.add_callback(self._link_established_signal.emit)
-        self._helper.cf.disconnected.add_callback(
-            self._disconnected_signal.emit)
+        self._cf = None
+        self._console_task = None
 
         self._clearButton.clicked.connect(self.clear)
         self._dumpSystemLoadButton.clicked.connect(
-            lambda enabled:
-            self._helper.cf.param.set_value("system.taskDump", '1'))
+            lambda: create_task(self._set_param("system.taskDump", 1))
+        )
         self._dumpAssertInformation.clicked.connect(
-            lambda enabled:
-            self._helper.cf.param.set_value_raw("system.assertInfo", 0x08, 1))
+            lambda: create_task(self._set_param("system.assertInfo", 1))
+        )
         self._propellerTestButton.clicked.connect(
-            lambda enabled:
-            self._helper.cf.param.set_value("health.startPropTest", '1'))
+            lambda: create_task(self._set_param("health.startPropTest", 1))
+        )
         self._batteryTestButton.clicked.connect(
-            lambda enabled:
-            self._helper.cf.param.set_value("health.startBatTest", '1'))
+            lambda: create_task(self._set_param("health.startBatTest", 1))
+        )
         self._storageStatsButton.clicked.connect(
-            lambda enabled:
-            self._helper.cf.param.set_value("system.storageStats", '1'))
-
-    def printText(self, text):
-        # Make sure we get printouts from the Crazyflie into the log (such as
-        # build version and test ok/fail)
+            lambda: create_task(self._set_param("system.storageStats", 1))
+        )
+
+        self._set_buttons_enabled(False)
+
+    def connected(self, cf: Crazyflie) -> None:
+        self._cf = cf
+        self._set_buttons_enabled(True)
+        self._console_task = create_task(self._console_loop())
+
+    def disconnected(self) -> None:
+        self._cf = None
+        if self._console_task is not None:
+            self._console_task.cancel()
+            self._console_task = None
+        self._set_buttons_enabled(False)
+
+    async def _console_loop(self) -> None:
+        console = self._cf.console()
+        while True:
+            lines = await console.get_lines()
+            for line in lines:
+                self._print(line + "\n")
+
+    async def _set_param(self, name: str, value: int) -> None:
+        if self._cf is not None:
+            await self._cf.param().set(name, value)
+
+    def _print(self, text: str) -> None:
         logger.debug("[%s]", text)
         scrollbar = self.console.verticalScrollBar()
         prev_scroll = scrollbar.value()
@@ -107,25 +119,12 @@ def printText(self, text):
         else:
             scrollbar.setValue(prev_scroll)
 
-    def clear(self):
+    def clear(self) -> None:
         self.console.clear()
 
-    def _connected(self, link_uri):
-        """Callback when the Crazyflie has been connected"""
-        self._dumpSystemLoadButton.setEnabled(True)
-        self._propellerTestButton.setEnabled(True)
-        self._batteryTestButton.setEnabled(True)
-        self._storageStatsButton.setEnabled(True)
-
-    def _disconnected(self, link_uri):
-        """Callback for when the Crazyflie has been disconnected"""
-        self._dumpSystemLoadButton.setEnabled(False)
-        self._dumpAssertInformation.setEnabled(False)
-        self._propellerTestButton.setEnabled(False)
-        self._batteryTestButton.setEnabled(False)
-        self._storageStatsButton.setEnabled(False)
-
-    def _link_established(self, link_uri):
-        """Callback when the first packet on a new link is received"""
-        # Enable the assert dump button as early as possible. After an assert we will never get the connected() cb.
-        self._dumpAssertInformation.setEnabled(True)
+    def _set_buttons_enabled(self, enabled: bool) -> None:
+        self._dumpSystemLoadButton.setEnabled(enabled)
+        self._dumpAssertInformation.setEnabled(enabled)
+        self._propellerTestButton.setEnabled(enabled)
+        self._batteryTestButton.setEnabled(enabled)
+        self._storageStatsButton.setEnabled(enabled)

src/cfclient/ui/tabs/__init__.py

@@ -30,7 +30,8 @@
 it into the UI when it is started.
 """
 
-# from .ConsoleTab import ConsoleTab
+from .ConsoleTab import ConsoleTab
+
 # from .CrtpSharkToolbox import CrtpSharkToolbox
 # from .ExampleTab import ExampleTab
 from .FlightTab import FlightTab
@@ -50,7 +51,7 @@
 __all__ = []
 
 available = [
-    # ConsoleTab,
+    ConsoleTab,
     # ExampleTab,
     FlightTab,
     # GpsTab,